/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RW_GRASPPLANNING_SEMIFORCECLOSUREFILTER_HPP_
#define RW_GRASPPLANNING_SEMIFORCECLOSUREFILTER_HPP_

#if !defined(SWIG)
#include <rw/graspplanning/GraspValidateFilter.hpp>

#include <cstddef>
#endif 

namespace rw { namespace graspplanning {

    /**
     * @brief A conservative estimate of the force closure properties of the grasp are
     * used to indicate weather a grasp is valid or not.
     *
     * The method is described in "Grasping the Dice by Dicing the Grasp"
     */
    class SemiForceClosureFilter : public GraspValidateFilter
    {
      public:
        SemiForceClosureFilter (size_t nrContacts) :
            _nrContacts (nrContacts), _avgScale (1.0 / nrContacts){};

        virtual ~SemiForceClosureFilter (){};

        bool isValid (const Grasp3D& grasp);

      private:
        size_t _nrContacts;
        double _avgScale;
    };
}}     // namespace rw::graspplanning
#endif /* PLANECLEARANCEFILTER_HPP_ */
